Installing An External Leakage Breaker; Installing A Circuit Protector - Yamaha RCX222 User Manual

4. Connecting to the power
4.3

Installing an external leakage breaker

Since the robot controller drives the motors by PWM control of IGBT, leakage current
flows at high frequencies. This might cause the external leakage breaker to malfunction.
When installing an external leakage current breaker, it is important to choose the optimum
sensitivity current rating (I Δ n).
(Check the leakage breaker manufacturer's data sheets to select the optimum product
Chapter
compatible with inverters.)
3
c
CAUTION
1. Leak current was measured with a leak tester with a low-pass fi lter turned
2. When using two or more controllers, sum the leakage current of each
3. Make sure that the controller is securely grounded.
4. Stray capacitance between the cable and FG may vary depending on
RCX222 control power supply (L1, N1)
RCX222 main power supply (L, N)
4.4

Installing a circuit protector

An inrush current, which might be from several to more than 10 times higher than the
rated current, flows at the instant the controller is turned on or the robot motors start to
operate. When installing an external circuit protector for the robot controller, select a
circuit protector that provides optimum operating characteristics.
To ensure proper operation, we recommend using a medium to slow response circuit
protector with an inertial delay function. (Refer to the circuit protector manufacturer's
data sheets for making the selection.)
RCX222 control power supply (L1, N1)
RCX222 main power supply (L, N)
3-10
on (100Hz).
• Leak tester: Hioki Electric 3283
controller.
the cable installation condition, causing the leakage current to fl uctuate.
Leakage current
1mA in total
Rated current Operating characteristics
3A
Slow type with inertial delay
10A